2 papers
eess.SY2024
Dual-Loop Robust Control of Biased Koopman Operator Model by Noisy Data of Nonlinear Systems
Tianyi He, Anuj Pal
The Koopman operator approach for data-driven control design of a nonlinear system is on the rise because of its capability to capture the behaviours of global dynamics. However, t…
cs.RO2022
Sample-efficient Model Predictive Control Design of Soft Robotics by Bayesian Optimization
Anuj Pal, Tianyi He, Wenpeng Wei
This paper presents a sample-efficient data-driven method to design model predictive control (MPC) for cable-actuated soft robotics using Bayesian optimization. Instead of modeling…